Common Stock and Earnings per Share - Narrative (Details)	12 Months Ended
	Dec. 31, 2019 class_of_stock $ / shares shares	Dec. 31, 2018 $ / shares shares	May 09, 2019 shares	Aug. 31, 2014 shares
Class of Stock [Line Items]
Number of classes of common stock | class_of_stock	2
Class A Non-Voting
Class of Stock [Line Items]
Approval rate to waive equal consideration rights	75.00%
Shares repurchased (in shares)	1,103,398	1,144,410
Average cost (in usd per share) | $ / shares	$ 9.33	$ 8.36
Class B Voting
Class of Stock [Line Items]
Shares repurchased (in shares)	1,736,011	94,378
Average cost (in usd per share) | $ / shares	$ 9.17	$ 8.96
2017 Repurchase Authorization
Class of Stock [Line Items]
Remaining number of shares authorized to be repurchased	958,907	427,883
2017 Repurchase Authorization | Common Stock
Class of Stock [Line Items]
Number of shares authorized to be repurchased			2,000,000	2,000,000
Stock Purchase Agreement | Class A Non-Voting
Class of Stock [Line Items]
Shares repurchased (in shares)	421,427
Stock Purchase Agreement | Class B Voting
Class of Stock [Line Items]
Shares repurchased (in shares)	1,376,889